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Car-Like Ground Vehicle Trajectory Tracking by Using Trajectory Linearization Control

[+] Author Affiliations
Yuanyan Chen, J. Jim Zhu

Ohio University, Athens, OH

Paper No. DSCC2017-5372, pp. V002T21A014; 10 pages
  • ASME 2017 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications
  • Tysons, Virginia, USA, October 11–13, 2017
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5828-8
  • Copyright © 2017 by ASME


This paper focuses on trajectory tracking control for an under-actuated car-like ground vehicle. We consider the 3 degree-of-freedom nonlinear vehicle rigid-body dynamics with nonlinear tire traction force, nonlinear drag forces and actuator dynamics. The control structure employs multi-loop Trajectory Linearization Control (TLC) based on singular perturbation (time-scale separation) theory for exponential stability. The designed controller controls the longitudinal velocity and steering angle simultaneously to follow a feasible guidance trajectory. The paper presents the modeling and design approach with computer simulation results on a scaled-down model car.

Copyright © 2017 by ASME



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